Simple SAP collision manager. More...

#include <hpp/fcl/broadphase/broadphase_SSaP.h>

Inheritance diagram for fcl::SSaPCollisionManager:

Collaboration diagram for fcl::SSaPCollisionManager:

Public Member Functions
	SSaPCollisionManager ()

void	registerObject (CollisionObject *obj)
	remove one object from the manager More...

void	unregisterObject (CollisionObject *obj)
	add one object to the manager More...

void	setup ()
	initialize the manager, related with the specific type of manager More...

void	update ()
	update the condition of manager More...

void	clear ()
	clear the manager More...

void	getObjects (std::vector< CollisionObject * > &objs) const
	return the objects managed by the manager More...

void	collide (CollisionObject obj, void cdata, CollisionCallBack callback) const
	perform collision test between one object and all the objects belonging to the manager More...

void	distance (CollisionObject obj, void cdata, DistanceCallBack callback) const
	perform distance computation between one object and all the objects belonging to the manager More...

void	collide (void *cdata, CollisionCallBack callback) const
	perform collision test for the objects belonging to the manager (i.e., N^2 self collision) More...

void	distance (void *cdata, DistanceCallBack callback) const
	perform distance test for the objects belonging to the manager (i.e., N^2 self distance) More...

void	collide (BroadPhaseCollisionManager other_manager, void cdata, CollisionCallBack callback) const
	perform collision test with objects belonging to another manager More...

void	distance (BroadPhaseCollisionManager other_manager, void cdata, DistanceCallBack callback) const
	perform distance test with objects belonging to another manager More...

bool	empty () const
	whether the manager is empty More...

size_t	size () const
	the number of objects managed by the manager More...

Public Member Functions inherited from fcl::BroadPhaseCollisionManager
	BroadPhaseCollisionManager ()

virtual	~BroadPhaseCollisionManager ()

virtual void	registerObjects (const std::vector< CollisionObject * > &other_objs)
	add objects to the manager More...

virtual void	update (CollisionObject *updated_obj)
	update the manager by explicitly given the object updated More...

virtual void	update (const std::vector< CollisionObject * > &updated_objs)
	update the manager by explicitly given the set of objects update More...

Protected Member Functions
bool	checkColl (std::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, void cdata, CollisionCallBack callback) const
	check collision between one object and a list of objects, return value is whether stop is possible More...

bool	checkDis (std::vector< CollisionObject * >::const_iterator pos_start, std::vector< CollisionObject * >::const_iterator pos_end, CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const
	check distance between one object and a list of objects, return value is whether stop is possible More...

bool	collide_ (CollisionObject obj, void cdata, CollisionCallBack callback) const

bool	distance_ (CollisionObject obj, void cdata, DistanceCallBack callback, FCL_REAL &min_dist) const

Protected Member Functions inherited from fcl::BroadPhaseCollisionManager
bool	inTestedSet (CollisionObject a, CollisionObject b) const

void	insertTestedSet (CollisionObject a, CollisionObject b) const

Static Protected Member Functions
static size_t	selectOptimalAxis (const std::vector< CollisionObject * > &objs_x, const std::vector< CollisionObject * > &objs_y, const std::vector< CollisionObject * > &objs_z, std::vector< CollisionObject * >::const_iterator &it_beg, std::vector< CollisionObject * >::const_iterator &it_end)

Protected Attributes
std::vector< CollisionObject * >	objs_x
	Objects sorted according to lower x value. More...

std::vector< CollisionObject * >	objs_y
	Objects sorted according to lower y value. More...

std::vector< CollisionObject * >	objs_z
	Objects sorted according to lower z value. More...

bool	setup_
	tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly More...

Protected Attributes inherited from fcl::BroadPhaseCollisionManager
std::set< std::pair < CollisionObject , CollisionObject > >	tested_set
	tools help to avoid repeating collision or distance callback for the pairs of objects tested before. It can be useful for some of the broadphase algorithms. More...

bool	enable_tested_set_

Detailed Description

Simple SAP collision manager.

Constructor & Destructor Documentation

fcl::SSaPCollisionManager::SSaPCollisionManager ( )

inline

Member Function Documentation

bool fcl::SSaPCollisionManager::checkColl	(	std::vector< CollisionObject * >::const_iterator	pos_start,
		std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

protected

check collision between one object and a list of objects, return value is whether stop is possible

bool fcl::SSaPCollisionManager::checkDis	(	std::vector< CollisionObject * >::const_iterator	pos_start,
		std::vector< CollisionObject * >::const_iterator	pos_end,
		CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const

protected

check distance between one object and a list of objects, return value is whether stop is possible

void fcl::SSaPCollisionManager::clear ( )

virtual

clear the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::collide	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

perform collision test between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::collide	(	void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

perform collision test for the objects belonging to the manager (i.e., N^2 self collision)

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::collide	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		CollisionCallBack	callback
	)		const

virtual

perform collision test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::SSaPCollisionManager::collide_	(	CollisionObject *	obj,
		void *	cdata,
		CollisionCallBack	callback
	)		const

protected

void fcl::SSaPCollisionManager::distance	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

perform distance computation between one object and all the objects belonging to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::distance	(	void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

perform distance test for the objects belonging to the manager (i.e., N^2 self distance)

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::distance	(	BroadPhaseCollisionManager *	other_manager,
		void *	cdata,
		DistanceCallBack	callback
	)		const

virtual

perform distance test with objects belonging to another manager

Implements fcl::BroadPhaseCollisionManager.

bool fcl::SSaPCollisionManager::distance_	(	CollisionObject *	obj,
		void *	cdata,
		DistanceCallBack	callback,
		FCL_REAL &	min_dist
	)		const

protected

bool fcl::SSaPCollisionManager::empty ( ) const

virtual

whether the manager is empty

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::getObjects ( std::vector< CollisionObject * > & objs ) const

virtual

return the objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::registerObject ( CollisionObject * obj )

virtual

remove one object from the manager

Implements fcl::BroadPhaseCollisionManager.

static size_t fcl::SSaPCollisionManager::selectOptimalAxis	(	const std::vector< CollisionObject * > &	objs_x,
		const std::vector< CollisionObject * > &	objs_y,
		const std::vector< CollisionObject * > &	objs_z,
		std::vector< CollisionObject * >::const_iterator &	it_beg,
		std::vector< CollisionObject * >::const_iterator &	it_end
	)

inlinestaticprotected

simple sweep and prune method

void fcl::SSaPCollisionManager::setup ( )

virtual

initialize the manager, related with the specific type of manager

Implements fcl::BroadPhaseCollisionManager.

size_t fcl::SSaPCollisionManager::size ( ) const

inlinevirtual

the number of objects managed by the manager

Implements fcl::BroadPhaseCollisionManager.

References objs_x.

void fcl::SSaPCollisionManager::unregisterObject ( CollisionObject * obj )

virtual

add one object to the manager

Implements fcl::BroadPhaseCollisionManager.

void fcl::SSaPCollisionManager::update ( )

virtual

update the condition of manager

Implements fcl::BroadPhaseCollisionManager.

Member Data Documentation

std::vector<CollisionObject*> fcl::SSaPCollisionManager::objs_x

protected

Objects sorted according to lower x value.

Referenced by size().

std::vector<CollisionObject*> fcl::SSaPCollisionManager::objs_y

protected

Objects sorted according to lower y value.

std::vector<CollisionObject*> fcl::SSaPCollisionManager::objs_z

protected

Objects sorted according to lower z value.

bool fcl::SSaPCollisionManager::setup_

protected

tag about whether the environment is maintained suitably (i.e., the objs_x, objs_y, objs_z are sorted correctly

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation